WO2020039776A1 - Système endoscopique et procédé de déduction de positions - Google Patents

Système endoscopique et procédé de déduction de positions Download PDF

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Publication number
WO2020039776A1
WO2020039776A1 PCT/JP2019/027226 JP2019027226W WO2020039776A1 WO 2020039776 A1 WO2020039776 A1 WO 2020039776A1 JP 2019027226 W JP2019027226 W JP 2019027226W WO 2020039776 A1 WO2020039776 A1 WO 2020039776A1
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WIPO (PCT)
Prior art keywords
waveform
magnetic field
unit
field generating
transmission
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Application number
PCT/JP2019/027226
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English (en)
Japanese (ja)
Inventor
今村　香織
崇聡 清水
Original Assignee
富士フイルム株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 富士フイルム株式会社 filed Critical 富士フイルム株式会社
Priority to EP19852548.7A priority Critical patent/EP3841950B1/fr
Priority to JP2020538225A priority patent/JP7023368B2/ja
Publication of WO2020039776A1 publication Critical patent/WO2020039776A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems

Definitions

  • the present disclosure relates to an endoscope system and a position deriving method.
  • endoscopy in an internal examination of a subject using an endoscope (hereinafter, referred to as “endoscopy”), the shape of the insertion section of the endoscope inserted into the body of the subject is detected, and the detected insertion section is inspected.
  • BACKGROUND ART Endoscopy is supported by displaying a shape image representing a shape on a display unit. Further, a plurality of magnetic field generating elements and a plurality of magnetic field detecting elements are used for detecting the shape of the insertion section of the endoscope.
  • Patent Document 1 the shape of an insertion portion of an endoscope is changed by using a frequency component corresponding to a frequency of a drive signal for generating a magnetic field from a magnetic field generating element in detection signals from a plurality of magnetic field detecting elements.
  • a calculation technique is disclosed.
  • the generation device notifies the detection device of the timing at which the magnetic field generation element generates a magnetic field.
  • the detection device acquires a signal detected by the magnetic field detection element based on the notified timing.
  • the notification of the timing is performed by wireless communication in accordance with a predetermined communication standard such as a wireless LAN (Local Area Network) and Bluetooth (registered trademark).
  • a wireless communication unit for notifying the timing of generating the magnetic field is required.
  • processing such as authentication between devices performing wireless communication.
  • the present disclosure has been made in view of the above circumstances, without providing a wireless communication unit for notifying the timing of generating a magnetic field, between the device that generates the magnetic field and the device that detects the magnetic field. It is an object of the present invention to provide an endoscope system and a position deriving method that can be made wireless.
  • an endoscope system includes a plurality of magnetic field generating elements and a first generation unit configured to generate a first waveform for detecting a position of an insertion unit to be inserted into a subject in an endoscope.
  • a second generator configured to generate a second waveform for detecting synchronization timing that is different from the first waveform in at least one of a frequency, a phase, an amplitude, and a waveform shape, and that can be distinguished from the first waveform;
  • a driving unit for driving the plurality of magnetic field generating elements by the first waveform after driving the magnetic field generating element, a plurality of magnetic field detecting elements, and a timing at which a signal corresponding to the second waveform is detected by the magnetic field detecting element.
  • the driving unit may drive each of the plurality of magnetic field generating elements at the same timing with the second waveform.
  • the plurality of magnetic field generating elements are combined in threes, and the driving unit causes the three magnetic field generating elements in each combination to have the same second waveform and the same second waveform.
  • the three magnetic field generating elements between the combinations may be driven at different timings and at least one of frequency, phase, amplitude, and waveform shape different from each other, and by the second waveform that can be distinguished from each other.
  • the plurality of magnetic field generating elements are combined in threes, and the driving unit causes the three magnetic field generating elements in each combination to have the same second waveform at different timings. And the three magnetic field generating elements between the combinations may be driven at different timings and at least one of frequency, phase, amplitude, and waveform shape different from each other, and by the second waveform that can be distinguished from each other. Further, in the endoscope system of the present disclosure, a plurality of magnetic field generating elements are a combination of two or more different directions in which a magnetic field is generated, and a driving unit controls the magnetic field generating elements in each combination at the same timing.
  • the plurality of magnetic field generating elements are a combination of two or more different directions in which the magnetic field is generated, and the driving unit controls the magnetic field generating elements in each combination at different timings. And driving the three magnetic field generating elements in each combination at different timings and at least one of frequency, phase, amplitude, and waveform shape different from each other so as to be distinguishable from each other. May be driven.
  • the drive unit may control the plurality of magnetic field generating elements at different timings and at least one of a frequency, a phase, an amplitude, and a waveform that is different from each other, and the driving unit may determine the second magnetic field generating elements from each other. It may be driven by a waveform.
  • the endoscope system according to the present disclosure may be distinguishable from each other by the second waveform having a different frequency or a waveform representing identification information of a magnetic field generating element to be driven.
  • the acquisition unit may be configured to detect the first magnetic field detected by each of the plurality of magnetic field detection elements based on a timing at which a signal corresponding to the second waveform is detected by the plurality of magnetic field detection elements. A signal corresponding to the waveform may be obtained.
  • the endoscope system may be configured such that the position of each of the plurality of magnetic field detection elements previously derived by the derivation unit or the intensity of a signal corresponding to the first waveform previously detected by the plurality of magnetic field detection elements last time.
  • the endoscope system may be configured such that the position of each of the plurality of magnetic field detection elements previously derived by the derivation unit or the intensity of a signal corresponding to the first waveform previously detected by the plurality of magnetic field detection elements last time. Further comprising a selecting unit for selecting a magnetic field detecting element to be detected for a signal corresponding to the second waveform, wherein the acquiring unit detects a signal corresponding to the second waveform by the magnetic field detecting element selected by the selecting unit. A signal corresponding to the first waveform may be acquired from each of the plurality of magnetic field detection elements based on the performed timing.
  • the endoscope system further includes a storage unit in which driving timing information for driving the magnetic field generating element with the first waveform after driving the magnetic field generating element with the second waveform is stored in advance, and the deriving unit is stored in the storage unit.
  • the position of each of the plurality of magnetic field detection elements may be derived based on the drive timing information.
  • the magnetic field generation element, the first generation unit, the second generation unit, and the drive unit, and the magnetic field detection element, the acquisition unit, and the derivation unit may not be electrically connected.
  • the magnetic field generating element, the first generating unit, the second generating unit, and the control unit, and the magnetic field detecting element, the acquiring unit, the deriving unit, and the storage unit are not electrically connected. Is also good.
  • a position deriving method is a position deriving method using an endoscope system including a plurality of magnetic field generating elements and a plurality of magnetic field detecting elements, and includes: A first waveform for detecting the position of the insertion portion to be inserted into the first portion is generated, a second waveform for detecting synchronization timing that can be determined to be different from the first waveform is generated, and the magnetic field generating element is driven by the second waveform.
  • the plurality of magnetic field generating elements are driven by the first waveform, and the first waveform detected by each of the plurality of magnetic field detecting elements is changed based on the timing at which the signal corresponding to the second waveform is detected by the magnetic field detecting element.
  • a corresponding signal is obtained, and the position of each of the plurality of magnetic field detection elements is derived based on the obtained signal.
  • FIG. 1 is a configuration diagram illustrating an example of a configuration of an endoscope system according to each embodiment. It is a block diagram showing an example of composition of an endoscope system concerning each embodiment. It is a lineblock diagram showing an example of a receiving coil unit and a transmitting coil unit concerning each embodiment.
  • FIG. 3 is a block diagram illustrating an example of a functional configuration of a transmission control unit according to the first embodiment. FIG. 3 is a diagram for explaining a first waveform and a second waveform according to the first embodiment.
  • FIG. 3 is a block diagram illustrating an example of a functional configuration of an overall control unit according to the first embodiment.
  • FIG. 3 is a block diagram illustrating an example of a hardware configuration of a transmission control unit according to each embodiment.
  • FIG. 9 is a flowchart illustrating an example of a magnetic field generation process according to each embodiment.
  • 5 is a flowchart illustrating an example of a position deriving process according to the first embodiment.
  • FIG. 9 is a diagram for describing a first waveform and a second waveform according to a modification.
  • FIG. 9 is a diagram for describing a first waveform and a second waveform according to a modification. It is a block diagram showing an example of the functional composition of the transmission control part concerning a 2nd embodiment.
  • FIG. 9 is a diagram for explaining a first waveform and a second waveform according to the second embodiment.
  • FIG. 9 is a diagram for describing a first waveform and a second waveform according to a modification.
  • the endoscope system 1 includes an endoscope 10 that captures an image of the inside of the body of the subject W (hereinafter, referred to as an “endoscope image”) and an endoscope inspection device 12. .
  • the endoscope 10 includes an insertion section 10A and an operation section 10B.
  • the examiner operates the operation section 10B to insert the insertion section 10A into the body of the subject W, and An endoscopic image of the inside of the subject W is captured.
  • the endoscope inspection device 12 connected to the endoscope 10 by the cable 11 includes a video processor 34, an overall control unit 40, a transmission unit 41, and a display unit 52 such as a liquid crystal display.
  • the video processor 34 controls the endoscope 10 to capture an endoscopic image.
  • the overall control unit 40 controls the entire endoscope system 1.
  • the video processor 34, the overall control unit 40, and the display unit 52 are each installed on the same installation base, and are communicably connected to each other by a cable.
  • the transmission unit 41 is installed separately from the other units of the endoscope inspection device 12 and connected to the power supply by a cable, but is connected to the other units of the endoscope inspection device 12 by a cable. Absent. That is, the examiner can move the transmission unit 41 independently of the other units of the endoscope inspection apparatus 12.
  • the endoscope 10 includes an image sensor 30 including an image sensor such as a charge coupled device (CCD) image sensor and a complementary metal-oxide-semiconductor (CMOS) image sensor.
  • the endoscope 10 transmits the light emitted from the light source 36 under the control of the video processor 34 through a transmission path (not shown), and emits the light from an emission unit (not shown) provided at the distal end of the insertion unit 10A.
  • the inside of the subject W is illuminated by the light thus emitted.
  • the reflected light from the subject W due to the illumination light forms an image on the image sensor 30 by an objective lens (not shown), and an image signal corresponding to the formed endoscope image as an optical image is transmitted via the cable 11. It is output to the video processor 34 of the endoscope inspection apparatus 12. A predetermined image processing is performed on the input image signal by the video processor 34, and the image data of the endoscope image obtained by the image processing is output to the overall control unit 40.
  • the transmission unit 41 includes a transmission control unit 42 and a transmission coil unit 48.
  • the transmission coil unit 48 includes a plurality (12 in the present embodiment) of transmission coils 49 1X , 49 1Y , 49 1Z , 49 2X , 49 2Y , 49 2Z , 493 3X , and 493 3Y. , 49 3Z , 494X , 494Y , and 494Z .
  • the transmitting coil 49 of the present embodiment has a combination of three units each having an axis oriented in each of the X-axis, the Y-axis, and the Z-axis. Of transmission coil groups.
  • the transmission coil 49 is simply referred to as “transmission coil 49” when generically referred to, and the transmission coil group of each group is generally referred to as “transmission coil 49” with the alphabet omitted. ( 1 ... 4 ). Further, in the present embodiment, when the transmission coils 49 are distinguished from each other, a code ( 1X ... 4Z ) representing the individual is added after the “transmission coil 49”.
  • Each transmitting coil 49 is an example of a magnetic field generating element.
  • the transmission coil unit 48 includes a set of a transmission coil 49 1X oriented in the X-axis direction, a transmission coil 49 1Y oriented in the Y-axis direction, and a transmission coil 49 1Z oriented in the Z-axis direction; A transmission coil 49 2X oriented in the direction, a transmission coil 49 2Y oriented in the Y-axis direction, and a transmission coil 49 2Z oriented in the Z-axis direction.
  • the transmission coil unit 48 includes a set of a transmission coil 49 3X oriented in the X-axis direction, a transmission coil 49 3Y oriented in the Y-axis direction, and a transmission coil 49 3Z oriented in the Z-axis direction.
  • the transmission coil unit 48 of the present embodiment is equivalent to a state in which four sets of three-axis coils are provided as the transmission coil 49.
  • the transmission control unit 42 also includes a transmission control section 44 and transmission circuits 46 1X , 46 1Y , 46 1Z , 46 2X , 46 2X , 46 2Y , 46 2Z , 46 connected in a one-to-one correspondence with the transmission coils 49. 3X , 46 3Y , 46 3Z , 46 4X , 46 4Y , and 464Z .
  • the transmission circuit 46 is simply referred to as the “transmission circuit 46” as in the case of the transmission coil 49, and the transmission circuit group is referred to as the “transmission circuit 46”. ”Is followed by a numeral code ( 1 ... 4 ) with the alphabet omitted.
  • a code ( 1X ... 4Z ) representing the individual is added after the "transmission circuit 46".
  • the transmission control unit 44 generates a first waveform (hereinafter, simply referred to as “first waveform”) for detecting the position of the insertion unit 10A of the endoscope 10 to be inserted into the subject W.
  • first waveform a first waveform
  • second waveform a second waveform
  • the transmission control unit 44 outputs each waveform to the transmission circuit 46. The details of the transmission control unit 44 will be described later.
  • Each of the transmission circuits 46 drives the transmission coil 49 connected thereto by the waveform input from the transmission control unit 44. Specifically, each of the transmission circuits 46 drives the transmission coil 49 connected thereto by outputting a drive signal corresponding to the waveform input from the transmission control unit 44 to the transmission coil 49 connected thereto. Let it.
  • the transmission circuit 46 is an example of a driving unit. Each transmission coil 49 generates a magnetic field according to a drive signal input from the transmission circuit 46 connected to each transmission coil.
  • the insertion portion receiving portion 21 provided inside the 10A, the reception control unit 20, the receiving coil unit 22, the receiving circuit 24 (24 1 to 24 16) of the endoscope 10, ADC (Analog-to- Digital Converter ) 26 (26 1 to 26 16 ) and an I / F (Interface) 29.
  • the reception control unit 20 controls the entire reception unit 21.
  • the receiving coil unit 22 includes 16 receiving coils 23 1 to 23 16 as an example (six are shown in the example of FIG. 3).
  • each of the reception coil 23, the reception circuit 24, and the ADC 26 is simply referred to as “the reception coil 23”, “the reception circuit 24”, and “the ADC 26”. That.
  • the “reception coil 23”, the “reception circuit 24”, and the “ADC 26” are used. ”Are given after the symbol ( 1 ... 16 ).
  • Each receiving coil 23 is arranged in the insertion section 10A of the endoscope 10 along the direction in which the receiving coil 23 is inserted into the subject W.
  • the receiving coil 23 detects a magnetic field generated by each transmitting coil 49 of the transmitting coil unit 48.
  • Each receiving coil 23 is connected to a receiving circuit 24 and outputs a signal (hereinafter, referred to as a “detection signal”) according to the detected magnetic field to the receiving circuit 24.
  • Each receiving coil 23 is an example of a magnetic field detecting element.
  • the receiving circuit 24 includes an LPF (Low Pass Filter), an amplifier (both not shown), and the like.
  • the LPF removes disturbance noise, and outputs a detection signal amplified by the amplifier to the ADC 26.
  • the ADC 26 converts the input analog detection signal into a digital detection signal and outputs the digital detection signal to the reception control unit 20.
  • the reception control unit 20 transmits the detection signal input from each ADC 26 to the endoscope inspection device 12 via the I / F
  • the detection signal transmitted from the receiving unit 21 of the endoscope 10 to the endoscope inspection apparatus 12 is input to the overall control unit 40 via the I / F 53.
  • the overall control unit 40 determines the position and orientation of each receiving coil 23 based on the input detection signal. (Posture) is derived. Further, the overall control unit 40 derives the shape of the insertion unit 10A of the endoscope 10 based on the derived position and orientation of each receiving coil 23. The details of the overall control unit 40 will be described later.
  • the transmission control unit 44 includes a first generation unit 60, a second generation unit 62, and an output unit 64.
  • the first generator 60 generates a first waveform.
  • the second generator 62 generates a second waveform.
  • the first waveform and the second waveform have different waveform shapes, so that the first waveform and the second waveform can be distinguished.
  • the first waveform and the second waveform may have the same waveform shape as long as the first waveform and the second waveform can be distinguished.
  • a mode is exemplified in which the first waveform and the second waveform have the same waveform shape and different frequencies, amplitudes, or phases.
  • the first waveform and the second waveform can be distinguished.
  • the output section 64 outputs the first waveform to the transmission circuit 46 after outputting the second waveform to the transmission circuit 46.
  • the transmission circuit 46 drives the transmission coil 49 with the first waveform after driving the transmission coil 49 with the second waveform.
  • the output unit 64 first outputs the second waveform H2 to all the transmission circuits 46 at the same timing. After outputting the second waveform H2, the output unit 64 outputs the first waveform H1 to each of all the transmission circuits 46 at a different timing.
  • the output unit 64 outputs the first waveform H1 to all of the transmission circuits 46 in a predetermined order. That is, a magnetic field according to the second waveform H2 is generated from all the transmission coils 49 at the same timing, and then a magnetic field according to the first waveform H1 is generated from each transmission coil 49 at different timings according to a predetermined order.
  • the order of the transmitting circuit 46 in which the output unit 64 outputs the first waveform H1 is not particularly limited.
  • a number for example, 1 to 12 as an example of identification information is assigned to each transmission coil 49, and the output unit 64 sends the transmission circuit 46 corresponding to the transmission coil 49 in ascending order of the number.
  • the case where the first waveform H1 is output will be described.
  • the information indicating the order of the transmitting circuit 46 from which the output section 64 outputs the first waveform H1 is also held in the overall control section 40.
  • a case will be described in which the period during which one first waveform H1 is input is n milliseconds (for example, several tens of milliseconds).
  • the numbers (1, 2, 3,..., 12) of the first waveform H1 in FIG. 5 represent the numbers assigned to the respective transmission coils 49.
  • the overall control unit 40 includes a receiving unit 70, a detecting unit 72, an acquiring unit 74, a deriving unit 76, and a display controlling unit 78.
  • the magnetic field generated by each transmission coil 49 is detected by each reception coil 23, and a detection signal corresponding to the detected magnetic field is transmitted from the reception control unit 20 of the endoscope 10 via the I / F 29. It is transmitted to the endoscope inspection device 12.
  • the receiving unit 70 receives the detection signal transmitted from the reception control unit 20 of the endoscope 10 via the I / F 53.
  • the detection unit 72 detects a signal detected by the reception coil 23 according to the magnetic field generated in the transmission coil 49 by the second waveform H2 from the detection signal received by the reception unit 70. Thereby, the detecting unit 72 detects the timing at which the signal corresponding to the second waveform H2 is detected by the receiving coil 23.
  • the timing at which the detection unit 72 detects a signal detected by the reception coil 23 in accordance with the magnetic field generated in the transmission coil 49 by the second waveform H2 is hereinafter referred to as “synchronization timing”.
  • the acquisition unit 74 corresponds to the first waveform H1 from the detection signal corresponding to each reception coil 23 received by the reception unit 70 based on the synchronization timing detected by the detection unit 72 corresponding to each reception coil 23. Get the signal to do. Specifically, the obtaining unit 74 obtains a signal corresponding to the first waveform H1 from each detection signal every n milliseconds based on the synchronization timing as described above. That is, the order in which the acquisition unit 74 acquires the first waveform H1 every n milliseconds corresponds to the order of the transmitting coil 49 that has generated a magnetic field corresponding to the first waveform H1. Therefore, for each of the detection signals detected by each of the reception coils 23, a signal corresponding to the first waveform H1 corresponding to each of the transmission coils 49 is acquired by the acquisition unit 74.
  • the deriving unit 76 derives the position and the direction of each receiving coil 23 based on the signal acquired by the acquiring unit 74.
  • the method by which the deriving unit 76 derives the position and orientation of the receiving coil 23 based on the signal acquired by the acquiring unit 74 is not particularly limited.
  • a technique described in Japanese Patent No. 3432825 may be applied. Can be.
  • a specific transmission coil 49 is determined based on a measured value of a magnetic field corresponding to the first waveform H1 generated by each transmission coil 49 and an estimated value of the direction of the reception coil 23. An estimated value of the distance to the receiving coil 23 is calculated.
  • the estimated value of the position of the receiving coil 23 is calculated from the estimated value of the distance from each transmitting coil 49 to the receiving coil 23 and the known position of the transmitting coil 49.
  • a new estimated value of the direction of the receiving coil 23 is calculated from the estimated position of the receiving coil 23 and the measured value of the magnetic field corresponding to the first waveform H1 of the receiving coil 23. Then, by using the new estimated value of the direction of the receiving coil 23, the calculation of the estimated value of the distance from the transmitting coil 49 to the receiving coil 23 and the calculation of the estimated value of the position of the receiving coil 23 are repeated, as described above.
  • the position and direction of the receiving coil 23 are derived.
  • the deriving unit 76 derives the shape of the insertion unit 10A of the endoscope 10 based on the derived position and direction of each receiving coil 23.
  • the display control unit 78 performs control to display an endoscope image indicated by the image data input from the video processor 34 in a partial display area of the display unit 52.
  • the display control unit 78 controls the display of the image representing the insertion unit 10A of the endoscope 10 according to the shape derived by the derivation unit 76 in a display area other than the display area of the endoscope image of the display unit 52. I do.
  • the display control unit 78 displays the endoscope image and the image representing the insertion unit 10A of the endoscope 10 on separate display units. Control may be performed.
  • the transmission control unit 44 includes a CPU (Central Processing Unit) 80, a memory 81 as a temporary storage area, a nonvolatile storage unit 82 such as a flash memory, and an external device to which each transmission circuit 46 is connected. I / F83 is included.
  • the CPU 80, the memory 81, the storage unit 82, and the external I / F 83 are connected to a bus 84.
  • the storage section 82 stores a magnetic field generation program 88.
  • the CPU 80 reads out the magnetic field generation program 88 from the storage unit 82, expands it in the memory 81, and executes the expanded magnetic field generation program 88.
  • the CPU 80 executes the magnetic field generation program 88, it functions as the first generation unit 60, the second generation unit 62, and the output unit 64 illustrated in FIG.
  • the reception control unit 20 according to the present embodiment is realized by the same hardware as the transmission control unit 44.
  • the overall control unit 40 includes a CPU 90, a memory 91 as a temporary storage area, a non-volatile storage unit 92 such as a flash memory, a video processor 34, a display unit 52, and an I / F 53. External I / F 93.
  • the CPU 90, the memory 91, the storage unit 92, and the external I / F 93 are connected to a bus 94.
  • the storage unit 92 stores a position derivation program 98.
  • the CPU 90 reads out the position derivation program 98 from the storage unit 92, expands it in the memory 91, and executes the developed position derivation program 98.
  • the CPU 90 executes the position deriving program 98 to function as the receiving unit 70, the detecting unit 72, the obtaining unit 74, the deriving unit 76, and the display control unit 78 illustrated in FIG.
  • the magnetic field generation processing shown in FIG. 9 is executed.
  • the magnetic field generation processing illustrated in FIG. 9 is executed, for example, when the power switch of the transmission unit 41 is turned on.
  • the transmission unit 41 includes a switch that switches on and off the generation of the magnetic field
  • the magnetic field generation processing illustrated in FIG. 9 may be performed when the switch is turned on.
  • the position deriving process shown in FIG. 10 is executed.
  • the position deriving process illustrated in FIG. 10 is executed, for example, when the power switch of the overall control unit 40 is turned on. Note that, when the overall control unit 40 includes a switch for switching the shape detection of the insertion unit 10A on and off, when the switch is turned on, even if the position deriving process illustrated in FIG. 10 is executed. Good.
  • step S10 of FIG. 9 the second generator 62 generates a second waveform H2.
  • step S12 the output unit 64 outputs the second waveform H2 generated by the process in step S10 to each of all the transmission circuits 46.
  • step S14 the first generator 60 generates a first waveform H1.
  • step S16 the output unit 64 outputs the first waveform H1 to each of all the transmission circuits 46 in a predetermined order, as described above.
  • the process in step S16 ends, the process returns to step S10.
  • the magnetic field generation processing illustrated in FIG. 9 ends, for example, when the power switch of the transmission unit 41 is turned off.
  • the transmission unit 41 includes a switch that switches on and off the generation of the magnetic field
  • the magnetic field generation process illustrated in FIG. 9 may be ended when the switch is turned off.
  • the magnetic field generated in each transmission coil 49 by the magnetic field generation processing shown in FIG. 9 is detected by each reception coil 23, and a detection signal corresponding to the detected magnetic field is transmitted from the reception control unit 20 of the endoscope 10 to the I / F 29. Is transmitted to the endoscope inspection apparatus 12 via the.
  • step S20 in FIG. 10 the receiving unit 70 receives the detection signal transmitted from the reception control unit 20 of the endoscope 10 via the I / F 53.
  • step S22 the detection unit 72 determines whether the signal detected by the reception coil 23 according to the magnetic field generated in the transmission coil 49 by the second waveform H2 from the detection signal received in the process of step S20. Is determined. If the determination is negative, the process returns to step S20, and if the determination is affirmative, the process proceeds to step S24.
  • step S24 the acquisition unit 74 extracts a signal corresponding to the first waveform H1 every n milliseconds from each detection signal received in the processing in step S20, based on the synchronization timing detected in the processing in step S22. get.
  • step S26 as described above, the deriving unit 76 derives the position and orientation of each receiving coil 23 based on the signal obtained by the processing in step S24.
  • step S28 the deriving unit 76 derives the shape of the insertion unit 10A of the endoscope 10 based on the position and direction of each of the receiving coils 23 derived in step S26.
  • step S30 the display control unit 78 places the image representing the insertion unit 10A of the endoscope 10 according to the shape derived by the processing in step S28 in a display area other than the display area of the endoscope image on the display unit 52. Perform display control.
  • the process in step S30 ends, the process returns to step S20.
  • the position deriving process illustrated in FIG. 10 ends, for example, when the power switch of the overall control unit 40 is turned off.
  • the overall control unit 40 includes a switch for turning on and off the shape detection of the insertion unit 10A, even if the position deriving process illustrated in FIG. 10 ends when the switch is turned off. Good.
  • the transmission coil 49 is driven by the second waveform H2
  • the transmission coil 49 is driven by the first waveform H1. Further, based on the timing at which the signal corresponding to the second waveform H2 is detected by the receiving coil 23, the signal corresponding to the first waveform H1 detected by each receiving coil 23 is obtained. Then, the position of each receiving coil 23 is derived based on the acquired signal. Therefore, the wireless communication between the transmitting unit 41 and the receiving unit 21 can be achieved without providing a wireless communication unit for notifying the timing of generating the magnetic field.
  • the transmission control section 44 after the transmission control section 44 drives each of the transmission coils 49 with the second waveform H2, the transmission control section 44 previously sets the drive timing information for driving each of the transmission coils 49 with the first waveform in the overall control section.
  • the deriving unit derives the position of each of the plurality of magnetic field detecting elements based on the drive timing information stored in the overall control unit 40.
  • the transmission unit 41 including the transmission control unit 44, the transmission circuit 46 (drive unit) and the transmission coil 49, and the reception coil 23, the derivation unit 76, the acquisition unit 74, and the storage unit 92 on the reception side can be made wireless.
  • the drive timing information is information for specifying the timing from when each transmission coil 49 is driven with the second waveform after being driven with the second waveform. Examples of the drive timing information include the time from when each transmission coil 49 is driven by the second waveform to when it is driven by the first waveform, the order in which each transmission coil 49 is driven by the first waveform, and the like.
  • the output unit 64 may output the second waveform H2 to each of all the transmission circuits 46 at a different timing.
  • a combination of the second waveform H2 and the first waveform H1 is input to each transmission circuit 46 at different timings.
  • the second waveforms H2 corresponding to the respective transmission circuits 46 can be distinguished from each other by different frequencies.
  • the second waveform H2 corresponding to each transmission circuit 46 may be distinguishable from each other by making at least one of the frequency, phase, amplitude, and waveform shape different from each other.
  • the acquisition unit 74 acquires a signal corresponding to the first waveform H1 of n milliseconds from each detection signal with reference to the synchronization timing. Further, the acquisition unit 74 can specify which transmission coil 49 the acquired signal corresponds to, based on the frequency of the signal detected by the detection unit 72.
  • a waveform representing a number which is an example of identification information of each transmitting coil 49 may be applied as the second waveform H2.
  • the transmission control unit 44 includes a first generation unit 60, a second generation unit 62A, and an output unit 64A.
  • the second generation unit 62A generates the same second waveform H2 for three transmission coils 49 in each combination.
  • the second generator 62A generates a discriminable second waveform H2 between at least one of the frequency, phase, amplitude, and waveform shape between the combinations of the three transmission coils 49.
  • the second waveform H2 can be distinguished from each other by different frequencies among the combinations of the three transmission coils 49.
  • the first waveform H1 and the second waveform H2 are different from each other in at least one of frequency, phase, amplitude, and waveform shape, so that the first waveform H1 and the second waveform H2 are different from each other. It can be determined.
  • the output unit 64A After outputting the second waveform H2 to the transmission circuit 46, the output unit 64A outputs the first waveform H1 to the transmission circuit 46. Specifically, as shown in FIG. 14, the output unit 64A outputs the second waveform H2 at the same timing to each of the transmission circuits 46 corresponding to the three transmission coils 49 in each combination. After outputting the second waveform H2, the output unit 64A outputs the first waveform H1 at a different timing to each of the transmission circuits 46 corresponding to the three transmission coils 49 in each combination. In the present embodiment, the output unit 64A outputs the first waveform H1 to each of the transmission circuits 46 corresponding to the three transmission coils 49 in each combination in a predetermined order, as in the first embodiment. Output.
  • the output unit 64 outputs the first waveform H1 and the second waveform H2 at different timings for each combination.
  • the output unit 64 outputs the above-described first waveform H1 and second waveform H2 in ascending order of the number of the transmission coil 49.
  • a magnetic field corresponding to the second waveform H2 is generated from the three transmitting coils 49 in each combination at the same timing, a magnetic field corresponding to the first waveform H1 is generated in a predetermined order.
  • magnetic fields corresponding to the first waveform H1 and the second waveform H2 are generated at different timings from the three transmission coils 49 between each combination.
  • the overall control unit 40 includes a reception unit 70, a detection unit 72, an acquisition unit 74A, a derivation unit 76, and a display control unit 78.
  • the acquisition unit 74A converts the detection signal corresponding to each reception coil 23 received by the reception unit 70 to the first waveform H1 based on the synchronization timing detected by the detection unit 72 corresponding to each reception coil 23. Get the signal to do. Specifically, the acquiring unit 74A acquires a signal corresponding to the first waveform H1 three times from each detection signal every n milliseconds based on the synchronization timing. Further, the acquisition unit 74A specifies, from the frequency of the signal detected by the detection unit 72, which combination of the acquired signals is due to the magnetic field according to the first waveform H1 generated by the three transmission coils 49 in any combination. I do.
  • the acquisition unit 74A can associate the acquired signal with the transmission coil 49 from the frequency of the signal detected by the detection unit 72 and the order in which the first waveform H1 was acquired every n milliseconds.
  • the acquisition unit 74A performs the above processing for each of the four combinations of the three transmission coils. Thereby, for each receiving coil 23, a signal corresponding to the magnetic field generated by each transmitting coil 49 according to the first waveform H1 is obtained.
  • the hardware configuration of the transmission control unit 44 and the hardware configuration of the overall control unit 40 are the same as those in the first embodiment, and a description thereof will not be repeated.
  • the magnetic field generation processing according to the present embodiment is the same except that the magnetic field generation processing (see FIG. 9) according to the first embodiment is repeatedly executed for each combination of three transmission circuits 46. Is omitted. Steps in FIG. 16 that execute the same processing as in FIG. 10 are denoted by the same reference numerals and description thereof is omitted.
  • step S24A determines the first waveform H1 from the detection signals received in step S20 every n milliseconds based on the synchronization timing detected in step S22 from the detection signals received in step S20. Are acquired three times. Further, the acquiring unit 74A determines from the frequency of the signal detected in the process of step S22 whether the acquired signal is caused by the magnetic field corresponding to the first waveform H1 generated by the three transmitting coils 49 of any combination. Identify.
  • step S25 the acquisition unit 74A determines whether the processing in step S24A has been completed for all four combinations of the three transmission coils 49. If this determination is affirmative, the process proceeds to step S26, and if negative, the process returns to step S20.
  • the magnetic field is generated by the first waveform H1 and the second waveform H2 for each combination of the three transmission coils 49. Therefore, the same effects as in the first embodiment can be obtained. Further, since three transmission coils 49 are driven simultaneously by the second waveform H2, the number of transmission coils 49 can be reduced to three by using a common circuit for generating an analog signal representing the second waveform H2. In addition, since the three transmission coils 49 orthogonal to each other are driven by the second waveform H2 at the same timing as one set, the transmission coil 49 and the reception coil 23 can be connected regardless of the direction of each reception coil 23. Can be obtained with a strength corresponding to the distance.
  • the same second waveform H2 is generated for each combination of the three transmission coils 49.
  • the same second waveform H2 is generated for each combination of two or more transmission coils having different directions in which the magnetic field is generated.
  • the second waveform H2 may be generated.
  • adjacent coils may be combined, or non-adjacent coils may be combined.
  • the output unit 64A may output the same second waveform H2 at different timings to each of the transmission circuits 46 in each combination.
  • a mode in which the first waveform H1 is output to each of the transmission circuits 46 in each combination immediately after outputting the same second waveform H2 in accordance with a predetermined order Is exemplified.
  • the transmission coil 49 to be driven by the second waveform H2 may be selected from all the transmission coils 49 according to the position of each reception coil 23 derived last time.
  • the predetermined number for example, the order in which the average value or the total value of the distances to the respective receiving coils 23 is smaller
  • the transmission coils 49 are selected.
  • a mode in which a predetermined number (for example, one) of the transmission coils 49 are selected from the three transmission coils 49 of each combination in an order close to the position of the reception coil 23 is exemplified. Is done.
  • the CPU 80 functions as a selection unit that selects the transmission coil 49 to be driven by the second waveform H2. As a result, the number of components for detecting the synchronization timing can be reduced.
  • each receiving coil 23 is changed, and the second waveform H2 is output from all the transmitting coils 49 according to the intensity of the signal corresponding to the first waveform H1 detected by each receiving coil 23.
  • the transmission coil 49 to be driven may be selected.
  • a predetermined number for example, four
  • the transmission coils 49 are selected in the descending order of the intensity of the signal corresponding to the first waveform H1 detected by the respective reception coils 23 last time. Is exemplified.
  • a predetermined number for example, 1 from the three transmitting coils 49 of each combination in the descending order of the intensity of the signal corresponding to the first waveform H1 detected by the receiving coil 23.
  • Transmission coil 49 is selected.
  • the CPU 80 functions as a selection unit that selects the transmission coil 49 to be driven by the second waveform H2.
  • the reception coil 23 to be detected for the signal corresponding to the second waveform H2 may be selected from all the reception coils 23 according to the position of each reception coil 23 derived last time. .
  • a mode is exemplified in which the receiving coil 23 whose position derived last time is closest to each transmitting coil 49 is selected.
  • the CPU 90 or the CPU included in the reception control unit 20 functions as a selection unit that selects the reception coil 23 to be detected for the signal corresponding to the second waveform H2. As a result, the number of components for detecting the synchronization timing can be reduced.
  • each receiving coil 23 is changed, and all the receiving coils 23 change to the second waveform H2 according to the intensity of the signal corresponding to the first waveform H1 detected by each receiving coil 23.
  • the receiving coil 23 to be detected for the corresponding signal may be selected.
  • a mode in which the receiving coil 23 having the highest intensity of the signal corresponding to the previously detected first waveform H1 is selected is exemplified.
  • the CPU 90 or the CPU included in the reception control unit 20 functions as a selection unit that selects the reception coil 23 to be detected for the signal corresponding to the second waveform H2. As a result, the number of components for detecting the synchronization timing can be reduced.
  • the reception control unit 20 includes the detection unit 72 and the acquisition units 74 and 74A is exemplified.
  • the present invention is not limited to this.
  • the magnetic field generating element for example, an element that generates a magnetic field such as a spin torque oscillation element may be applied.
  • the magnetic field detecting element for example, an element for detecting a magnetic field such as a Hall element and an MR (Magneto Resistive) element may be applied.
  • the first generation unit 60, the second generation units 62 and 62A, the output unit 64, the reception unit 70, the detection unit 72, the acquisition units 74 and 74A, the derivation unit 76, and the display control unit As a hardware structure of a processing unit that executes various processes such as 78, the following various processors can be used. As described above, in addition to the CPU, which is a general-purpose processor that executes software (programs) and functions as various processing units, the above-described various processors include a circuit after manufacturing an FPGA (Field Programmable Gate Array) or the like.
  • FPGA Field Programmable Gate Array
  • Dedicated electricity which is a processor having a circuit configuration specifically designed to execute a specific process such as a programmable logic device (PLD) or an ASIC (Application Specific Integrated Circuit), which is a processor whose configuration can be changed. Circuit etc. are included.
  • PLD programmable logic device
  • ASIC Application Specific Integrated Circuit
  • One processing unit may be configured by one of these various processors, or a combination of two or more processors of the same type or different types (for example, a combination of a plurality of FPGAs or a combination of a CPU and an FPGA). Combination). Further, a plurality of processing units may be configured by one processor. As an example of configuring a plurality of processing units with one processor, first, as represented by computers such as a client and a server, one processor is configured by a combination of one or more CPUs and software. There is a form in which a processor functions as a plurality of processing units.
  • SoC system-on-chip
  • a form in which a processor that realizes the functions of the entire system including a plurality of processing units by one IC (Integrated Circuit) chip is used. is there.
  • the various processing units are configured using one or more of the above various processors as a hardware structure.
  • circuitry circuitry combining circuit elements such as semiconductor elements can be used.
  • the magnetic field generation program 88 is provided in a form recorded on a recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), and a USB (Universal Serial Bus) memory. Is also good. Further, the magnetic field generation program 88 may be downloaded from an external device via a network.
  • a recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), and a USB (Universal Serial Bus) memory. Is also good.
  • the magnetic field generation program 88 may be downloaded from an external device via a network.
  • the position deriving program 98 may be provided in a form recorded on a recording medium such as a CD-ROM, a DVD-ROM, and a USB memory.
  • the position deriving program 98 may be downloaded from an external device via a network.
  • Endoscope system 10 Endoscope 10A insertion part 10B Operation unit 11 Cable 12 Endoscopy device 20 Reception control unit 21, 70 receiving unit 22 Receiving coil unit 23 1 to 23 16 receiving coil 24 1 to 24 16 receiving circuit 26 1 to 26 16 ADC29, 53 I / F30 Image sensor 34 Video Processor 36 light source 40 Overall control unit 41 Transmitter 42 Transmission control unit 44 Transmission control unit 46 1X , 46 1Y , 46 1Z to 46 4X , 46 4Y , 46 4Z transmission circuit 48 transmitting coil unit 49 1X , 49 1Y , 49 1Z to 49 4X , 49 4Y , 494 Z transmit coil 52 Display 60 first generation unit 62, 62A second generation unit 64, 64A output section 72 Detector 74, 74A acquisition unit 76 Derivation unit 78 Display control unit 80, 90 CPU81, 91 Memory 82, 92 storage unit 83, 93 External I / F 84, 94 Bus 88 Magnetic field generation program 98 Position Derivation Program H1 First waveform H2 2

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Abstract

La présente invention concerne un système endoscopique (1) comprenant : une pluralité de bobines de transmission (49) ; une unité de commande de transmission (44) qui génère une première forme d'onde pour détecter la position d'une partie d'insertion, d'un endoscope (10), à insérer dans le corps d'un sujet, et une seconde forme d'onde qui est destinée à détecter un rythme de synchronisation et qui peut être distinguée de la première forme d'onde puisqu'elle diffère de la première forme d'onde par au moins un élément parmi la fréquence, la phase, l'amplitude et la forme de la forme d'onde ; un circuit de transmission (46), lequel, après avoir entraîné les bobines de transmission (49) à l'aide de la seconde forme d'onde, entraîne les bobines de transmission (49) à l'aide de la première forme d'onde ; une pluralité de bobines de réception (23) ; et une unité de commande globale (40), laquelle, sur la base d'un rythme auquel un signal correspondant à la seconde forme d'onde est détecté par l'une des bobines de réception (23), acquiert des signaux correspondant aux premières formes d'onde détectées par les bobines de réception respectives (23), puis déduit les positions des bobines de réception respectives (23) sur la base des signaux acquis.
PCT/JP2019/027226 2018-08-23 2019-07-09 Système endoscopique et procédé de déduction de positions WO2020039776A1 (fr)

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EP19852548.7A EP3841950B1 (fr) 2018-08-23 2019-07-09 Système endoscopique et procédé de déduction de positions
JP2020538225A JP7023368B2 (ja) 2018-08-23 2019-07-09 内視鏡システム及び内視鏡検査装置の作動方法

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JP3432825B2 (ja) 1992-08-14 2003-08-04 ブリテイッシュ・テレコミュニケーションズ・パブリック・リミテッド・カンパニー 位置決定システム
JP2003524443A (ja) * 1998-08-02 2003-08-19 スーパー ディメンション リミテッド 医療用体内誘導装置
JP2003290129A (ja) * 2002-04-03 2003-10-14 Olympus Optical Co Ltd 内視鏡形状検出装置
JP2006136413A (ja) 2004-11-10 2006-06-01 Olympus Corp 内視鏡形状検出装置
JP2007330348A (ja) * 2006-06-12 2007-12-27 Olympus Medical Systems Corp 内視鏡挿入形状検出装置
WO2011155383A1 (fr) * 2010-06-09 2011-12-15 オリンパスメディカルシステムズ株式会社 Dispositif de détection de forme de sonde et procédé de détection de forme de sonde

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JP2008011913A (ja) 2006-07-03 2008-01-24 Olympus Medical Systems Corp カプセル医療装置およびカプセル医療装置システム
EP3017759A4 (fr) 2013-07-02 2017-05-10 Olympus Corporation Instrument médical
CN109195499B (zh) * 2016-06-16 2021-01-26 富士胶片株式会社 导航装置以及内窥镜系统

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JP3432825B2 (ja) 1992-08-14 2003-08-04 ブリテイッシュ・テレコミュニケーションズ・パブリック・リミテッド・カンパニー 位置決定システム
JPH10507104A (ja) * 1994-08-19 1998-07-14 バイオセンス・インコーポレイテッド 医療用機器の診断及び取扱いならびに映像システム
JP2003524443A (ja) * 1998-08-02 2003-08-19 スーパー ディメンション リミテッド 医療用体内誘導装置
JP2003290129A (ja) * 2002-04-03 2003-10-14 Olympus Optical Co Ltd 内視鏡形状検出装置
JP2006136413A (ja) 2004-11-10 2006-06-01 Olympus Corp 内視鏡形状検出装置
JP2007330348A (ja) * 2006-06-12 2007-12-27 Olympus Medical Systems Corp 内視鏡挿入形状検出装置
WO2011155383A1 (fr) * 2010-06-09 2011-12-15 オリンパスメディカルシステムズ株式会社 Dispositif de détection de forme de sonde et procédé de détection de forme de sonde

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Title
See also references of EP3841950A4

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JP7023368B2 (ja) 2022-02-21
EP3841950A1 (fr) 2021-06-30

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